<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/html4/loose.dtd">
<html lang="en">
<head>
<title>Source code</title>
<link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
</head>
<body>
<div class="sourceContainer">
<pre><span class="sourceLineNo">001</span>package frc3128.HardwareLink.Pneumatics;<a name="line.1"></a>
<span class="sourceLineNo">002</span><a name="line.2"></a>
<span class="sourceLineNo">003</span>import edu.wpi.first.wpilibj.Compressor;<a name="line.3"></a>
<span class="sourceLineNo">004</span>import edu.wpi.first.wpilibj.Solenoid;<a name="line.4"></a>
<span class="sourceLineNo">005</span>import frc3128.Util.DebugLog;<a name="line.5"></a>
<span class="sourceLineNo">006</span>import java.util.Vector;<a name="line.6"></a>
<span class="sourceLineNo">007</span><a name="line.7"></a>
<span class="sourceLineNo">008</span>/**<a name="line.8"></a>
<span class="sourceLineNo">009</span> * <a name="line.9"></a>
<span class="sourceLineNo">010</span> * @author Noah Sutton-Smolin<a name="line.10"></a>
<span class="sourceLineNo">011</span> */<a name="line.11"></a>
<span class="sourceLineNo">012</span>public class PneumaticsLink {<a name="line.12"></a>
<span class="sourceLineNo">013</span>    private   static Compressor c;<a name="line.13"></a>
<span class="sourceLineNo">014</span>    protected static Vector dualSolenoidList = new Vector();<a name="line.14"></a>
<span class="sourceLineNo">015</span><a name="line.15"></a>
<span class="sourceLineNo">016</span>    /**<a name="line.16"></a>
<span class="sourceLineNo">017</span>     * Sets up and initialized the PneumaticsManager.<a name="line.17"></a>
<span class="sourceLineNo">018</span>     * <a name="line.18"></a>
<span class="sourceLineNo">019</span>     * @param comp The compressor to be initialized <a name="line.19"></a>
<span class="sourceLineNo">020</span>     */<a name="line.20"></a>
<span class="sourceLineNo">021</span>    public PneumaticsLink(Compressor comp) {<a name="line.21"></a>
<span class="sourceLineNo">022</span>        PneumaticsLink.c = comp;<a name="line.22"></a>
<span class="sourceLineNo">023</span>        PneumaticsLink.c.stop();<a name="line.23"></a>
<span class="sourceLineNo">024</span>    }<a name="line.24"></a>
<span class="sourceLineNo">025</span>    <a name="line.25"></a>
<span class="sourceLineNo">026</span>    /**<a name="line.26"></a>
<span class="sourceLineNo">027</span>     * Sets the compressor. Do not call this unless needed.<a name="line.27"></a>
<span class="sourceLineNo">028</span>     *<a name="line.28"></a>
<span class="sourceLineNo">029</span>     * @param comp The compressor to be used<a name="line.29"></a>
<span class="sourceLineNo">030</span>     */<a name="line.30"></a>
<span class="sourceLineNo">031</span>    public void setCompressor(Compressor comp) {<a name="line.31"></a>
<span class="sourceLineNo">032</span>        if(PneumaticsLink.c != null) DebugLog.log(DebugLog.LVL_SEVERE, "PneumaticsLink", "Pneumatic compressor was changed!");<a name="line.32"></a>
<span class="sourceLineNo">033</span>        PneumaticsLink.c = comp;<a name="line.33"></a>
<span class="sourceLineNo">034</span>        PneumaticsLink.c.stop();<a name="line.34"></a>
<span class="sourceLineNo">035</span>    }<a name="line.35"></a>
<span class="sourceLineNo">036</span>    /**<a name="line.36"></a>
<span class="sourceLineNo">037</span>     * Adds a piston to the DualSolenoid list<a name="line.37"></a>
<span class="sourceLineNo">038</span>     * <a name="line.38"></a>
<span class="sourceLineNo">039</span>     * @param solA      the first solenoid<a name="line.39"></a>
<span class="sourceLineNo">040</span>     * @param solB      the second solenoid<a name="line.40"></a>
<span class="sourceLineNo">041</span>     * @param solAState the first solenoid's initial state<a name="line.41"></a>
<span class="sourceLineNo">042</span>     * @param solBState the second solenoid's initial state<a name="line.42"></a>
<span class="sourceLineNo">043</span>     * @return a PistonID for referencing the given piston<a name="line.43"></a>
<span class="sourceLineNo">044</span>     */<a name="line.44"></a>
<span class="sourceLineNo">045</span>    public static PistonID addPiston(Solenoid solA, Solenoid solB, boolean solAState, boolean solBState) {<a name="line.45"></a>
<span class="sourceLineNo">046</span>        dualSolenoidList.addElement(new DualSolenoid(solA, solB, solAState, solBState));<a name="line.46"></a>
<span class="sourceLineNo">047</span>        return new PistonID(dualSolenoidList.size() - 1);<a name="line.47"></a>
<span class="sourceLineNo">048</span>    }<a name="line.48"></a>
<span class="sourceLineNo">049</span><a name="line.49"></a>
<span class="sourceLineNo">050</span>    /**<a name="line.50"></a>
<span class="sourceLineNo">051</span>     * Sets a piston to the locked state (ignores inversion).<a name="line.51"></a>
<span class="sourceLineNo">052</span>     * <a name="line.52"></a>
<span class="sourceLineNo">053</span>     * @param id the PistonID to be set<a name="line.53"></a>
<span class="sourceLineNo">054</span>     */<a name="line.54"></a>
<span class="sourceLineNo">055</span>    public static void setPistonStateLocked(PistonID id) {<a name="line.55"></a>
<span class="sourceLineNo">056</span>        ((DualSolenoid) dualSolenoidList.elementAt(id.getID())).lockPiston();<a name="line.56"></a>
<span class="sourceLineNo">057</span>    }<a name="line.57"></a>
<span class="sourceLineNo">058</span><a name="line.58"></a>
<span class="sourceLineNo">059</span>    /**<a name="line.59"></a>
<span class="sourceLineNo">060</span>     * Sets a piston to the unlocked state (ignores inversion).<a name="line.60"></a>
<span class="sourceLineNo">061</span>     * <a name="line.61"></a>
<span class="sourceLineNo">062</span>     * @param id the PistonID to be set<a name="line.62"></a>
<span class="sourceLineNo">063</span>     */<a name="line.63"></a>
<span class="sourceLineNo">064</span>    public static void setPistonStateUnlocked(PistonID id) {<a name="line.64"></a>
<span class="sourceLineNo">065</span>        ((DualSolenoid) dualSolenoidList.elementAt(id.getID())).unlockPiston();<a name="line.65"></a>
<span class="sourceLineNo">066</span>    }<a name="line.66"></a>
<span class="sourceLineNo">067</span><a name="line.67"></a>
<span class="sourceLineNo">068</span>    /**<a name="line.68"></a>
<span class="sourceLineNo">069</span>     * Sets a piston to the "on" state ("off" if inverted).<a name="line.69"></a>
<span class="sourceLineNo">070</span>     * <a name="line.70"></a>
<span class="sourceLineNo">071</span>     * @param id the PistonID to be set<a name="line.71"></a>
<span class="sourceLineNo">072</span>     */<a name="line.72"></a>
<span class="sourceLineNo">073</span>    public static void setPistonStateOn(PistonID id) {<a name="line.73"></a>
<span class="sourceLineNo">074</span>        if(!id.getInversion()) <a name="line.74"></a>
<span class="sourceLineNo">075</span>            ((DualSolenoid) dualSolenoidList.elementAt(id.getID())).setPistonOn();<a name="line.75"></a>
<span class="sourceLineNo">076</span>        else<a name="line.76"></a>
<span class="sourceLineNo">077</span>            ((DualSolenoid) dualSolenoidList.elementAt(id.getID())).setPistonOff();<a name="line.77"></a>
<span class="sourceLineNo">078</span>    }<a name="line.78"></a>
<span class="sourceLineNo">079</span><a name="line.79"></a>
<span class="sourceLineNo">080</span>    /**<a name="line.80"></a>
<span class="sourceLineNo">081</span>     * Sets a piston to the "off" state ("on" if inverted).<a name="line.81"></a>
<span class="sourceLineNo">082</span>     * <a name="line.82"></a>
<span class="sourceLineNo">083</span>     * @param id the PistonID to be set<a name="line.83"></a>
<span class="sourceLineNo">084</span>     */<a name="line.84"></a>
<span class="sourceLineNo">085</span>    public static void setPistonStateOff(PistonID id) {<a name="line.85"></a>
<span class="sourceLineNo">086</span>        if(!id.getInversion())<a name="line.86"></a>
<span class="sourceLineNo">087</span>            ((DualSolenoid) dualSolenoidList.elementAt(id.getID())).setPistonOff();<a name="line.87"></a>
<span class="sourceLineNo">088</span>        else<a name="line.88"></a>
<span class="sourceLineNo">089</span>            ((DualSolenoid) dualSolenoidList.elementAt(id.getID())).setPistonOn();<a name="line.89"></a>
<span class="sourceLineNo">090</span>    }<a name="line.90"></a>
<span class="sourceLineNo">091</span><a name="line.91"></a>
<span class="sourceLineNo">092</span>    /**<a name="line.92"></a>
<span class="sourceLineNo">093</span>     * Sets a piston to its inverted state (ignores inversion).<a name="line.93"></a>
<span class="sourceLineNo">094</span>     * <a name="line.94"></a>
<span class="sourceLineNo">095</span>     * @param id the PistonID to be inverted<a name="line.95"></a>
<span class="sourceLineNo">096</span>     */<a name="line.96"></a>
<span class="sourceLineNo">097</span>    public static void setPistonInvertState(PistonID id) {<a name="line.97"></a>
<span class="sourceLineNo">098</span>        ((DualSolenoid) dualSolenoidList.elementAt(id.getID())).setPistonInvertState();<a name="line.98"></a>
<span class="sourceLineNo">099</span>    }<a name="line.99"></a>
<span class="sourceLineNo">100</span>    <a name="line.100"></a>
<span class="sourceLineNo">101</span>    /**<a name="line.101"></a>
<span class="sourceLineNo">102</span>     * Starts the compressor.<a name="line.102"></a>
<span class="sourceLineNo">103</span>     */<a name="line.103"></a>
<span class="sourceLineNo">104</span>    public static void setCompressorStateOn() {PneumaticsLink.c.start();}<a name="line.104"></a>
<span class="sourceLineNo">105</span><a name="line.105"></a>
<span class="sourceLineNo">106</span>    /**<a name="line.106"></a>
<span class="sourceLineNo">107</span>     * Stops the compressor.<a name="line.107"></a>
<span class="sourceLineNo">108</span>     */<a name="line.108"></a>
<span class="sourceLineNo">109</span>    public static void setCompressorStateOff() {PneumaticsLink.c.stop();}<a name="line.109"></a>
<span class="sourceLineNo">110</span><a name="line.110"></a>
<span class="sourceLineNo">111</span>    /**<a name="line.111"></a>
<span class="sourceLineNo">112</span>     * <a name="line.112"></a>
<span class="sourceLineNo">113</span>     * @return whether the compressor is on or off<a name="line.113"></a>
<span class="sourceLineNo">114</span>     */<a name="line.114"></a>
<span class="sourceLineNo">115</span>    public static boolean getCompressorState() {<a name="line.115"></a>
<span class="sourceLineNo">116</span>        return (PneumaticsLink.c.enabled() ? true : false);<a name="line.116"></a>
<span class="sourceLineNo">117</span>    }<a name="line.117"></a>
<span class="sourceLineNo">118</span>    <a name="line.118"></a>
<span class="sourceLineNo">119</span>    /**<a name="line.119"></a>
<span class="sourceLineNo">120</span>     * Locks all pistons.<a name="line.120"></a>
<span class="sourceLineNo">121</span>     */<a name="line.121"></a>
<span class="sourceLineNo">122</span>    public static void lockAllPistons() {<a name="line.122"></a>
<span class="sourceLineNo">123</span>        for(int i = 0; i &lt; dualSolenoidList.size(); i++)<a name="line.123"></a>
<span class="sourceLineNo">124</span>            ((DualSolenoid) dualSolenoidList.elementAt(i)).lockPiston();<a name="line.124"></a>
<span class="sourceLineNo">125</span>    }<a name="line.125"></a>
<span class="sourceLineNo">126</span>}<a name="line.126"></a>
<span class="sourceLineNo">127</span><a name="line.127"></a>
<span class="sourceLineNo">128</span>class DualSolenoid {<a name="line.128"></a>
<span class="sourceLineNo">129</span>    private Solenoid solA;<a name="line.129"></a>
<span class="sourceLineNo">130</span>    private Solenoid solB;<a name="line.130"></a>
<span class="sourceLineNo">131</span><a name="line.131"></a>
<span class="sourceLineNo">132</span>    /**<a name="line.132"></a>
<span class="sourceLineNo">133</span>     * Links two solenoids together, typically a Festo valve.<a name="line.133"></a>
<span class="sourceLineNo">134</span>     * <a name="line.134"></a>
<span class="sourceLineNo">135</span>     * @param solA      the first solenoid valve<a name="line.135"></a>
<span class="sourceLineNo">136</span>     * @param solB      the second solenoid valve<a name="line.136"></a>
<span class="sourceLineNo">137</span>     * @param solAState the initial solenoid state for the first valve<a name="line.137"></a>
<span class="sourceLineNo">138</span>     * @param solBState the initial solenoid state for the second valve<a name="line.138"></a>
<span class="sourceLineNo">139</span>     */<a name="line.139"></a>
<span class="sourceLineNo">140</span>    protected DualSolenoid(Solenoid solA, Solenoid solB, boolean solAState, boolean solBState) {<a name="line.140"></a>
<span class="sourceLineNo">141</span>        this.solA = solA;<a name="line.141"></a>
<span class="sourceLineNo">142</span>        this.solB = solB;<a name="line.142"></a>
<span class="sourceLineNo">143</span>        solA.set(solAState);<a name="line.143"></a>
<span class="sourceLineNo">144</span>        solB.set(solBState);<a name="line.144"></a>
<span class="sourceLineNo">145</span>    }<a name="line.145"></a>
<span class="sourceLineNo">146</span><a name="line.146"></a>
<span class="sourceLineNo">147</span>    /**<a name="line.147"></a>
<span class="sourceLineNo">148</span>     * Sets both solenoid states to "true"; locks the piston in place.<a name="line.148"></a>
<span class="sourceLineNo">149</span>     */<a name="line.149"></a>
<span class="sourceLineNo">150</span>    protected void lockPiston() {<a name="line.150"></a>
<span class="sourceLineNo">151</span>        solA.set(true);<a name="line.151"></a>
<span class="sourceLineNo">152</span>        solB.set(true);<a name="line.152"></a>
<span class="sourceLineNo">153</span>        DebugLog.log(DebugLog.LVL_STREAM, "DualSolenoid", "DualSolenoid set to lock-state");<a name="line.153"></a>
<span class="sourceLineNo">154</span>    }<a name="line.154"></a>
<span class="sourceLineNo">155</span><a name="line.155"></a>
<span class="sourceLineNo">156</span>    /**<a name="line.156"></a>
<span class="sourceLineNo">157</span>     * Sets both solenoid states to "false"; also typically locks the piston in <a name="line.157"></a>
<span class="sourceLineNo">158</span>     * place.<a name="line.158"></a>
<span class="sourceLineNo">159</span>     */<a name="line.159"></a>
<span class="sourceLineNo">160</span>    protected void unlockPiston() {<a name="line.160"></a>
<span class="sourceLineNo">161</span>        solA.set(false);<a name="line.161"></a>
<span class="sourceLineNo">162</span>        solB.set(false);<a name="line.162"></a>
<span class="sourceLineNo">163</span>        DebugLog.log(DebugLog.LVL_STREAM, "DualSolenoid", "DualSolenoid set to unlock-state");<a name="line.163"></a>
<span class="sourceLineNo">164</span>    }<a name="line.164"></a>
<span class="sourceLineNo">165</span><a name="line.165"></a>
<span class="sourceLineNo">166</span>    /**<a name="line.166"></a>
<span class="sourceLineNo">167</span>     * Sets A to true and B to false; generically called "on".<a name="line.167"></a>
<span class="sourceLineNo">168</span>     */<a name="line.168"></a>
<span class="sourceLineNo">169</span>    protected void setPistonOn() {<a name="line.169"></a>
<span class="sourceLineNo">170</span>        solA.set(true);<a name="line.170"></a>
<span class="sourceLineNo">171</span>        solB.set(false);<a name="line.171"></a>
<span class="sourceLineNo">172</span>        DebugLog.log(DebugLog.LVL_STREAM, "DualSolenoid", "DualSolenoid set to on-state");<a name="line.172"></a>
<span class="sourceLineNo">173</span>    }<a name="line.173"></a>
<span class="sourceLineNo">174</span><a name="line.174"></a>
<span class="sourceLineNo">175</span>    /**<a name="line.175"></a>
<span class="sourceLineNo">176</span>     * Sets B to true and A to false; generically called "off".<a name="line.176"></a>
<span class="sourceLineNo">177</span>     */<a name="line.177"></a>
<span class="sourceLineNo">178</span>    protected void setPistonOff() {<a name="line.178"></a>
<span class="sourceLineNo">179</span>        solB.set(true);<a name="line.179"></a>
<span class="sourceLineNo">180</span>        solA.set(false);<a name="line.180"></a>
<span class="sourceLineNo">181</span>        DebugLog.log(DebugLog.LVL_STREAM, "DualSolenoid", "DualSolenoid set to off-state");<a name="line.181"></a>
<span class="sourceLineNo">182</span>    }<a name="line.182"></a>
<span class="sourceLineNo">183</span>    <a name="line.183"></a>
<span class="sourceLineNo">184</span>    /**<a name="line.184"></a>
<span class="sourceLineNo">185</span>     * Sets B to !B and A to !A, inverting the piston's current state.<a name="line.185"></a>
<span class="sourceLineNo">186</span>     */<a name="line.186"></a>
<span class="sourceLineNo">187</span>    protected void setPistonInvertState() {<a name="line.187"></a>
<span class="sourceLineNo">188</span>        solA.set(!solA.get());<a name="line.188"></a>
<span class="sourceLineNo">189</span>        solB.set(!solB.get());<a name="line.189"></a>
<span class="sourceLineNo">190</span>        DebugLog.log(DebugLog.LVL_STREAM, "DualSolenoid", "DualSolenoid set to flip-state " + solA.get() + ", " +solB.get());<a name="line.190"></a>
<span class="sourceLineNo">191</span>    }<a name="line.191"></a>
<span class="sourceLineNo">192</span>}<a name="line.192"></a>




























































</pre>
</div>
</body>
</html>
